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<li class="navelem"><a class="el" href="namespaceekf.html">ekf</a></li><li class="navelem"><a class="el" href="structekf_1_1ekf__state.html">ekf_state</a></li>  </ul>
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<p><code>#include &lt;<a class="el" href="ekf__types_8h_source.html">ekf_types.h</a>&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a13fc45f72e07e8396866ae3796095282"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a13fc45f72e07e8396866ae3796095282">xk</a></td></tr>
<tr class="memdesc:a13fc45f72e07e8396866ae3796095282"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current estimate of the state.  <a href="#a13fc45f72e07e8396866ae3796095282">More...</a><br/></td></tr>
<tr class="separator:a13fc45f72e07e8396866ae3796095282"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af12586ca49febf7db7c50cd1153c9e33"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#af12586ca49febf7db7c50cd1153c9e33">xkm</a></td></tr>
<tr class="memdesc:af12586ca49febf7db7c50cd1153c9e33"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predicted state.  <a href="#af12586ca49febf7db7c50cd1153c9e33">More...</a><br/></td></tr>
<tr class="separator:af12586ca49febf7db7c50cd1153c9e33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7e6965a9cd8b85424f9a0f1aedc2fb7"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#ab7e6965a9cd8b85424f9a0f1aedc2fb7">Pxk</a></td></tr>
<tr class="memdesc:ab7e6965a9cd8b85424f9a0f1aedc2fb7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variance-Covariance of the state.  <a href="#ab7e6965a9cd8b85424f9a0f1aedc2fb7">More...</a><br/></td></tr>
<tr class="separator:ab7e6965a9cd8b85424f9a0f1aedc2fb7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee938384595b322d411277e1dda54d2e"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#aee938384595b322d411277e1dda54d2e">Fxk</a></td></tr>
<tr class="memdesc:aee938384595b322d411277e1dda54d2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Jacobian of the evolution function.  <a href="#aee938384595b322d411277e1dda54d2e">More...</a><br/></td></tr>
<tr class="separator:aee938384595b322d411277e1dda54d2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73bd94df09b3ffaed5e07552e1d605db"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a></td></tr>
<tr class="memdesc:a73bd94df09b3ffaed5e07552e1d605db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variance covariance of the evolution noise.  <a href="#a73bd94df09b3ffaed5e07552e1d605db">More...</a><br/></td></tr>
<tr class="separator:a73bd94df09b3ffaed5e07552e1d605db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70ebe0b19856b1846cb3a1500478824e"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a70ebe0b19856b1846cb3a1500478824e">yk</a></td></tr>
<tr class="memdesc:a70ebe0b19856b1846cb3a1500478824e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current observation.  <a href="#a70ebe0b19856b1846cb3a1500478824e">More...</a><br/></td></tr>
<tr class="separator:a70ebe0b19856b1846cb3a1500478824e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afed1bd13d00d799ebe5e3d7d7fbb51ae"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#afed1bd13d00d799ebe5e3d7d7fbb51ae">ino_yk</a></td></tr>
<tr class="memdesc:afed1bd13d00d799ebe5e3d7d7fbb51ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Current innovations.  <a href="#afed1bd13d00d799ebe5e3d7d7fbb51ae">More...</a><br/></td></tr>
<tr class="separator:afed1bd13d00d799ebe5e3d7d7fbb51ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48db34937430d2388e89c34a454533a3"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a48db34937430d2388e89c34a454533a3">Hyk</a></td></tr>
<tr class="memdesc:a48db34937430d2388e89c34a454533a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Jacobian of the observation function.  <a href="#a48db34937430d2388e89c34a454533a3">More...</a><br/></td></tr>
<tr class="separator:a48db34937430d2388e89c34a454533a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae25dcdc684b5048c1c2d692e7d0a6c04"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#ae25dcdc684b5048c1c2d692e7d0a6c04">Rn</a></td></tr>
<tr class="memdesc:ae25dcdc684b5048c1c2d692e7d0a6c04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variance covariance of the observation noise.  <a href="#ae25dcdc684b5048c1c2d692e7d0a6c04">More...</a><br/></td></tr>
<tr class="separator:ae25dcdc684b5048c1c2d692e7d0a6c04"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c60d18be170aa3c2c5cf14964d18fc7"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a1c60d18be170aa3c2c5cf14964d18fc7">Kk</a></td></tr>
<tr class="memdesc:a1c60d18be170aa3c2c5cf14964d18fc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain.  <a href="#a1c60d18be170aa3c2c5cf14964d18fc7">More...</a><br/></td></tr>
<tr class="separator:a1c60d18be170aa3c2c5cf14964d18fc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe5d2d9fddcfacbfcc6e12d309771743"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#afe5d2d9fddcfacbfcc6e12d309771743">temp_n_n</a></td></tr>
<tr class="memdesc:afe5d2d9fddcfacbfcc6e12d309771743"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrices.  <a href="#afe5d2d9fddcfacbfcc6e12d309771743">More...</a><br/></td></tr>
<tr class="separator:afe5d2d9fddcfacbfcc6e12d309771743"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a99c2af66b30729d245ba9e1195140323"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">temp_n_1</a></td></tr>
<tr class="separator:a99c2af66b30729d245ba9e1195140323"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a350cc6da2951c80850bcd32de6766e36"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a350cc6da2951c80850bcd32de6766e36">temp_no_no</a></td></tr>
<tr class="separator:a350cc6da2951c80850bcd32de6766e36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7e9f6cb1df0e658941fd38ee12712f4"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#ac7e9f6cb1df0e658941fd38ee12712f4">temp_n_no</a></td></tr>
<tr class="separator:ac7e9f6cb1df0e658941fd38ee12712f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a9bed9ae078cd39f59bf1f7336d06cf"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#a1a9bed9ae078cd39f59bf1f7336d06cf">temp_2_n_n</a></td></tr>
<tr class="separator:a1a9bed9ae078cd39f59bf1f7336d06cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7734ea76c5973de7f4e76ea8d8757d8"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#ac7734ea76c5973de7f4e76ea8d8757d8">temp_no</a></td></tr>
<tr class="separator:ac7734ea76c5973de7f4e76ea8d8757d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe2839dd3805e4dd56c613227788606f"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structekf_1_1ekf__state.html#abe2839dd3805e4dd56c613227788606f">params</a></td></tr>
<tr class="memdesc:abe2839dd3805e4dd56c613227788606f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Optional parameters (this must be allocated and initialized from the user side!  <a href="#abe2839dd3805e4dd56c613227788606f">More...</a><br/></td></tr>
<tr class="separator:abe2839dd3805e4dd56c613227788606f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-009_8cc-example.html#_a1">example-009.cc</a>.</dd>
</dl></div><h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="aee938384595b322d411277e1dda54d2e"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">gsl_matrix* ekf::ekf_state::Fxk</td>
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<p>Jacobian of the evolution function. </p>

</div>
</div>
<a class="anchor" id="a48db34937430d2388e89c34a454533a3"></a>
<div class="memitem">
<div class="memproto">
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</div><div class="memdoc">

<p>Jacobian of the observation function. </p>

</div>
</div>
<a class="anchor" id="afed1bd13d00d799ebe5e3d7d7fbb51ae"></a>
<div class="memitem">
<div class="memproto">
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        <tr>
          <td class="memname">gsl_vector* ekf::ekf_state::ino_yk</td>
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</div><div class="memdoc">

<p>Current innovations. </p>

</div>
</div>
<a class="anchor" id="a1c60d18be170aa3c2c5cf14964d18fc7"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">gsl_matrix* ekf::ekf_state::Kk</td>
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</div><div class="memdoc">

<p>Kalman gain. </p>

</div>
</div>
<a class="anchor" id="abe2839dd3805e4dd56c613227788606f"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">gsl_vector* ekf::ekf_state::params</td>
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</div><div class="memdoc">

<p>Optional parameters (this must be allocated and initialized from the user side! </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-009_8cc-example.html#a2">example-009.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="ab7e6965a9cd8b85424f9a0f1aedc2fb7"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">gsl_matrix* ekf::ekf_state::Pxk</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Variance-Covariance of the state. </p>

</div>
</div>
<a class="anchor" id="ae25dcdc684b5048c1c2d692e7d0a6c04"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">gsl_matrix* ekf::ekf_state::Rn</td>
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<p>Variance covariance of the observation noise. </p>

</div>
</div>
<a class="anchor" id="a73bd94df09b3ffaed5e07552e1d605db"></a>
<div class="memitem">
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</div><div class="memdoc">

<p>Variance covariance of the evolution noise. </p>

</div>
</div>
<a class="anchor" id="a1a9bed9ae078cd39f59bf1f7336d06cf"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">gsl_matrix* ekf::ekf_state::temp_2_n_n</td>
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</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="a99c2af66b30729d245ba9e1195140323"></a>
<div class="memitem">
<div class="memproto">
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</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="afe5d2d9fddcfacbfcc6e12d309771743"></a>
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<p>Temporary matrices. </p>

</div>
</div>
<a class="anchor" id="ac7e9f6cb1df0e658941fd38ee12712f4"></a>
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</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="ac7734ea76c5973de7f4e76ea8d8757d8"></a>
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</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="a350cc6da2951c80850bcd32de6766e36"></a>
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<p>Current estimate of the state. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-009_8cc-example.html#a12">example-009.cc</a>.</dd>
</dl>
</div>
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          <td class="memname">gsl_vector* ekf::ekf_state::xkm</td>
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<p>Predicted state. </p>

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          <td class="memname">gsl_vector* ekf::ekf_state::yk</td>
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<p>Current observation. </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/fix_jer/SVN/easykf_trunk/trunk/easykf-2.04/src/<a class="el" href="ekf__types_8h_source.html">ekf_types.h</a></li>
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